function  [Target_x,Target_y,number] = target_point(x,y,path,number,Path_length)
if number <= Path_length + 2
    Cover_x = path(number).position(1,1) + 0.5 - x;
    Cover_y = path(number).position(1,2) + 0.5 - y;
    if sqrt((Cover_x)^2 + (Cover_y)^2) < 0.1 
        number = number + 1;
    end
    Cover_Th = atan2(Cover_y,Cover_x);

    Target_x = 1 * cos(Cover_Th);
    Target_y = 1 * sin(Cover_Th);
else
    Target_x = 0;
    Target_y = 0;
end